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automatic generation of collision free moves for the ABB industrial robot control

Automatic generation of collision free moves for the ABB ind...

引用

international conference on Knowledge-Based intelligent Electronic Systems (KES)

作者： C. Blume Department Gummersbach Fachhochshule Köln Gummersbach Germany

The paper reports the GLEAM method, its application, and results of the implementation of a software tool for the automatic generation of collision free moves for ABB industrial robot control. During the generation of collision free move statements a multi-criteria optimization is performed. The generation and optimization is done with the help of a genetic algorithm and an evolutionary strategy. The industrial application was done during a sabbatical period together with ABB robotics in Vasteras, using ABB industrial robot control and an IRB 2400 robot. The presentation describes the work items to be done, and discusses the problems to be solved.

关键词： Industrial control Robot control Service robots robotics and automation Genetic algorithms Optimization methods Evolution (biology) Strategic planning Technology planning Biology computing

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Design and analysis of a dynamic scheduler for a flexible assembly system

Design and analysis of a dynamic scheduler for a flexible as...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： T.-S. Huang L.-C. Fu Y.-Y. Chen Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

This paper proposes a rule-based dynamic scheduler for a flexible assembly system. We first introduce a flexible control system developed by the intelligent Robot and Automation Laboratory in National Taiwan University. Based on that control system, the relationship between the control system and the scheduler is characterized. With focus on realization, hardware limitations such as long computation time and excessive memory-space usage are relaxed by incorporating several heuristic measures. The present work is applied to the simulated robotized flexible assembly system in our laboratory.

关键词： Dynamic scheduling automatic control control systems Robotic assembly Processor scheduling Assembly systems Laboratories intelligent robots robotics and automation Hardware

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Prospect for development of intelligent control

Prospect for development of intelligent control

引用

IEEE international conference on intelligent Processing Systems, ICIPS

作者： Zi-Xing Cai Center for Intelligent Control Central South University of Technology Changsha Hunan China

ISBN: (纸本)0780342534

The future issues of intelligent control are demonstrated first. These issues include the world representation of a control system, models of cognitive controllers, suggestions for research on intelligent machines, and control modes. Then a prospective development of intelligent control is made considering three aspects: newer frames of theory; better technology integration; and more mature methodologies of application.

关键词： intelligent control automatic control control systems Humans intelligent robots Medical control systems control system synthesis Artificial intelligence Cognitive robotics Logic

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Comparison of control algorithms for a nonholonomic underactuated 2-DOF robot

Comparison of control algorithms for a nonholonomic underact...

引用

IEEE/ASME (AIM) international conference on Advanced intelligent Mechatronics

作者： J. Mareczek M. Buss G. Schmidt Institute of Automatic Control Engineering Technical University Munich Munich Germany

Summary form only given as follows. We present experimental results of several control algorithms for a nonholonomic underactuated 2-DOF robot. The first joint of the robot consists of a DD-motor whereas the second joint has no actuator but a holding brake. We derive a control law using non-collocated linearization for the uncertain parameter case and apply PD, LQG and VS controllers. In experiments the different control laws are quantitatively compared. An intelligent brake algorithm is presented.

关键词： robotics and automation automatic control World Wide Web intelligent robots Couplings Actuators Robust stability PD control

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Stability analysis in variable structure position/force hybrid control of manipulators

Stability analysis in variable structure position/force hybr...

引用

IEEE international conference on intelligent Engineering Systems (INES)

作者： A. Azenha J.A. Tenreiro Machado Department of Electrical and Computer Engineering Faculty of Engineering University of Porta Porto Portugal

In this paper is studied the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The robustness and performances of the system are analysed both in terms of t... 详细信息

关键词： Force control Stability analysis Robot kinematics robotics and automation Manipulators Electric variables control automatic control Robot control Jacobian matrices Sliding mode control

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Online automatic tipover prevention for mobile manipulators

Online automatic tipover prevention for mobile manipulators

引用

Proceedings of the 1997 IEEE/RSJ international conference on intelligent Robot and Systems. Innovative robotics for Real-World Applications. IROS '97

作者： D.A. Rey E.G. Papadoupoulos Department of Mechanical Engineering and Center for Intelligent Machines McGill University Montreal QUE Canada McGill University Montreal QC CA

Mobile manipulators operating in field environments are susceptible to dangerous and costly rollover or tipover instabilities, particularly when operating on an uneven terrain or when exerting large forces or moments. By monitoring the static and dynamic tipover stability margins of a mobile manipulator it is possible to predict such tipover and take appropriate actions to prevent the tipover from occurring. This paper describes a scheme for automatic tipover prediction, and prevention, which uses the static and dynamic force-angle measures of tipover stability margin. Time-until-tipover prediction is accomplished using estimated gradients of the tipover stability margins, and prevention is accomplished using a combination of the manipulator and platform actuators. Simulation results demonstrate the efficiency and promise of the proposed scheme for automatic tipover prevention.

关键词： Stability Force measurement Manipulator dynamics Time measurement Vehicle dynamics Aerodynamics Monitoring automatic control Forestry Military computing

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Recursive learning for deformable object manipulation

Recursive learning for deformable object manipulation

引用

international conference on Advanced robotics (ICAR)

作者： A.M. Howard G.A. Bekey Institute for Robotics and Intelligent Systems School of Engineering University of Southern California Los Angeles CA USA

This paper presents a generalized approach to handling of 3D deformable objects. Our task is to learn robotic grasping characteristics for a non-rigid object represented by a physically-based model. The model is derived from discretizing the object into a network of interconnected particles and springs. Using Newtonian equations, we model the particle motion of a deformable object and thus calculate the deformation characteristics of the object. These deformation characteristics allow us to learn the required minimum forces necessary to successfully grasp the object and by linking these parameters into a learning table, we can subsequently retrieve the forces necessary to grasp an object presented to the system during run time. This new method of learning is presented and the results of a virtual simulation are shown.

关键词： intelligent robots robotics and automation Robustness automatic control Force measurement Adaptive control intelligent systems Systems engineering and theory Springs Equations

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ROMAN: a mobile robotic assistant for indoor service applications

ROMAN: a mobile robotic assistant for indoor service applica...

引用

IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： U.D. Hanebeck C. Fischer G. Schmidt Institute of Automatic Control Engineering LSR Technische Universität München Munchen Germany

The paper describes design issues of a mobile service robot for health care applications and domestic automation. Key components required for achieving semi-autonomous operation are surveyed, including: 1. a highly maneuverable locomotion platform, 2. an anthropomorphous manipulator, 3. a reliable multisensor system, and a 4. multimodal human-robot-interface. In addition, related information processing and control methodologies are presented. Special emphasis is put on a system architecture for integration of the individual components into a full-size service robot. Performance and usefulness of the proposed approaches are demonstrated through experiments in various real-world service scenarios.

关键词： Mobile robots robotics and automation Service robots Medical services Design automation Anthropomorphism Manipulators Multisensor systems Information processing automatic control

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Adaptive shared control of a smart wheelchair operated by voice control

Adaptive shared control of a smart wheelchair operated by vo...

引用

IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： R.C. Simpson S.P. Levine Rehabilitation Engineering Program Department of Biomedical Engineering University of Michigan Ann Arbor MI USA

The NavChair Assistive Wheelchair Navigation System is being developed to reduce the cognitive and physical requirements of operating a power wheelchair. The NavChair is an adaptive shared control system, shared in that control is divided between the wheelchair and the wheelchair operator and adaptive in that how control is divided between the wheelchair and the wheelchair operator varies based on current task requirements. This paper describes the NavChair's method for automatically allocating control between the wheelchair and its operator and presents results evaluating the performance of the NavChair's automatic adaptation mechanism from an experiment in which able-bodied subjects used voice control to steer the NavChair through a navigation task requiring several transitions between operating modes.

关键词： Programmable control Adaptive control Wheelchairs control systems automatic control Navigation Sensor arrays Biomedical engineering Adaptive systems Prototypes

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Learning of membership functions of fuzzy behaviours for a mobile robot control system

Learning of membership functions of fuzzy behaviours for a m...

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IEEE international Workshop on intelligent Robots and Systems (IROS)

作者： Jiancheng Qiu M. Walters University of Luton UK

This paper introduces a learning algorithm to automatically learn membership functions of fuzzy behaviours for a mobile robot reactive control system. Genetic algorithms are used to implement the learning processes. The learning process emphasises the functionalities of individual behaviours, various types of training environments and a simple-to-complex multistage learning course for the purpose of building a real world mobile robot. The effectiveness of the algorithm is presented.

关键词： Fuzzy control Fuzzy systems Mobile robots Robot control control systems Genetic algorithms automatic control Fuzzy logic Sonar navigation Laser radar

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